I'm happy to announce the [look_at_pose](http://wiki.ros.org/look_at_pose) package. We use it to keep a shelf in sight as our robot drives, but it could be used in drones and user interfaces, among other things.

The ROS service takes a current camera pose, a vector to define "up", and the target pose to look at. The response is a new, upright camera pose that's centered on the object of interest. Hopefully the documentation [here](http://wiki.ros.org/look_at_pose) is pretty good.

An example: This camera has a rough initial alignment with the object of interest (the pink cylinder) and it is nearly upside-down. The pose returned from a call to look_at_pose is well-aligned and the camera is upright.
<img src="/uploads/ros/original/1X/116cd4b5ec670cfed882719d47ad7a34ee2dcac8.png" width="475" height="435">

<img src="/uploads/ros/original/1X/f5929206dd57c9c38dea46563a97663554e013a4.png" width="475" height="435">





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